2.

2 GPS

[4]

GPS

GPS

n
:

PR1
PR2

(X R

X1)2

(YR Y1 )2

(Z R

Z1 )2

Cdt

(X R

X 2 )2

(YR Y2 ) 2

(Z R

Z 2 )2

Cdt

e1
e2

PRn

(X R

X n )2

(YR Yn )2

(Z R

Z n )2

Cdt

en

PRi :

( X i , Yi , Z i ) :

( X R ,YR , Z R ) :

dt :
ei :

C:

.
; i = 1,2

,n

(2.1)

( X 0 , Y0 , Z 0 )
:

(2.1)

X0
PR1
PR2

2
R

PRn

n
R

X1

Y0 Y1

1
R

1
R

X0

X2

Xn

Z3
3
R

Y0 Yn

Z0

Zn

n
R

X 1 )2

(X0

Z0

2
R

n
R

i
R

Z1
1
R

Y0 Y2

2
R

X0

Z0

1
R

n
R

(Y0 Y1 )2

Z1 ) 2

(Z 0

1
X0

e1

Y Y0
Z Z0

e2

Cdt

en

X
1

(2.2)

i = 1,2

,n

(2.2)

HX

PR1
PR2
PRn

(2.3)

1
R
2
R

n
R

n 1

X0

X1
X2

Y0 Y2

H
X0

Y0 Yn

n
R

X
X

n
R

Z1

Z2

1
R

Z0

2
R

Xn

n 1

Z0

1
R

2
R

n 1

en

n 1

Y0 Y1

1
R

X0

e1
e2

2
R

Z0

Zn
n
R

Cdt

1
n 4

X0

Y Y0
Z Z0

n 4

4 1
4 1

(Least-Square Method)

X LS

( H T H )-1 H T Y

10

HX

e
(2.4)

GPS

(Integrity)

(Receiver Autonomous Integrity Monitoring ; RAIM);

GPS

(Supplemental)
(Pseudoranges)

GPS

GPS

(Primary)
GPS

RAIM
FDE(Fault Detection & Exclusion)

11

(RAIM)

(Parity Method)

GPS

3.1 RTCA

(MOPS)[5][6]

RTCA(Radio Technical Commission for Aeronautics)

RTCA

1991

GPS

(Supplement Navigation System)

(Minimum Operational Performance Standards ; MOPS)

3.1

RTCA DO-208MOPS

RNAV

2.0

0.002/

30

0.999

1.0

0.002/

10

0.999

0.3

0.002/

10

0.999

3.l GPS

:
(Alarm Limit)
GPS
12

(Failure)

(Maximum Allowable Alarm Rate)

GPS

(Time to Alarm)

(Detection Probability)=1-

(Miss

Detection Probability)

SA

3.1

3.2

RAIM
RAIM

RAIM
(Snapshot)
13

3.2.1

(Least Square Residuals Method)

(2.3)

(2.4)

H X LS

H ( H T H ) 1 H TY

(3.1)

w:

w Y Y

H (H T H ) 1 H T Y

(3.2)

RAIM

(Sum of Squared Errors ; SSE

SSE
SSE

wT w

(3.3)

1. SSE

GPS

2.

(Threshold)

e
SSE
;

14

3.

e
SSE

n-4

(Chi-Square Distribution)

SSE

n-4
:

3.1

[7]
X

(Probability Density Function)

2 n / 2 ( n / 2) 1
x
e
(n / 2)
0

f ( x)

( x)

t x 1e t dt

3.1[7]

X 1, X 2 ,

Xn

XK

K 1

15

x/2

if

x 0

if

x 0

3.2[7]

X 1, X 2 ,

k 1,2,

Xn
Xk

a1 , a2 ,
Y

a1 X 1

an

a2 X 2

an X n
2

2
Y

(2.3)

a1

a2

a12

an

a2 2

an 2

2
n

H (H T H ) 1 H T Y

H ( H T H ) 1 H T ( HX

e)

HX

H ( H T H ) 1 H T HX

H (H T H ) 1 H T e

(3.5)

H (H T H ) 1 H T
T

H (H T H ) 1 H T

(3.6)

H ( H H ) H =Q
(I

(3.6)

(3.7)

(3.4)

H (H T H ) 1 H T e

H (H T H ) 1 H T

Q2

(3.2)

I
Q

,n

Q) 2

( I Q )( I
I Q
Q

Q)

2Q Q 2

n n

Matrix

Trace(Q ) rank (Q) 4

Trace( I Q ) n 4
16

2Q Q

(3.7)

(Idempotent

(Orthogonal Matrix) K

n n

n-4

n n
I
u (u1 , u2 ,

K T diag (1, 1,0,0,0,0) K

un )T

Ke

(3.8)

(3.3) (3.4)

wT w

SSE

eT ( I

Q )T ( I

eT ( I

Q QT

eT ( I

Q )e

Q )e
Q T Q )e

eT K T diag (1, 1,0,0,0,0) Ke

u T diag (1, 1,0,0,0,0) u
u12

u22

un2 5

un2 4

(3.9)
2

K11
K 21

K12
K 22

K1 n
K2n

e1
e2

K n1

Kn2

K nn

en

K11e1 K12e2
K 21e1 K 22e2

K1n en
K 2 n en

u1
u2

K n1e1

K nnen

un

Ke

K n 2e2

i 1,2,

17

,n

K i21
3.2

K i22

K in2 1

(3.9)

SSE

u1

u2

un

(3.10)

(1)

(2)

132

176

102

133

90

108

82

99

77

91

10

73

87

(1):

1/15000

(RTCA DO-208)

(2):

1/3000000

(RTCA DO-229)

3.2 SSE /(n 4)

3.1
SSE

SSE

n-4

n-4

SSE /(n 4)

(Decision Variable);

SSE /(n 4)
3.1

SSE /(n 4)

=33 m
(Alarm)

18

3.2.2

(Parity Method)[2]

Hn 4

rank ( H ) 4

PH

( H T H ) 1 H TY

X LS

(2.3)

P( n

Gram-schmidt

PPT

In

4) n

n n

(H T H ) 1 H T
U

(3.11)

rank (U ) n
(State Space)

n-4

(Parity Space)

(H T H ) 1 H T

X LS

UY

Y
p

(n 4) 1
P

PY

P( HX

(Parity Vector)

e) PHX

Pe

Pe

rank (U ) n

( H T H )H T
U H

| PT

| PT

P
(H T H ) 1 H T H

( H T H ) 1 H T PT

PH

PPT

I4
0

0
In

(3.12)

In
4

19

(3.13)

| PT

PT P

(3.14)

(H T H ) 1 H T
In

U 1U

| PT
P

S
(3.2)

H (H T H ) 1 H T

PT P

H (H T H ) 1 H T

In

H (H T H ) 1 H T

(3.15)

(3.15)
T

wT w Y T I

H (H T H ) 1 H T

H (H T H ) 1 H T Y

YT I

H (H T H ) 1 H T

YT I

H (H T H ) 1 H T

H (H T H ) 1 H T

YT I

H (H T H ) 1 H T Y

Y T SY

Y T P T PY

H (H T H ) 1 H T Y
H ( H T H ) 1 H T H (H T H ) 1 H T Y

pT p

p
pT p

wT w SSE

(3.16)

pT p

(3.16)

SSE

P
Normalized QR Decomposition

20

H
[32]

QR

Hn 4

Qn n Rn 4
QT

n-4

3.2.3 FDE(Fault Detection & Exclusion)

[2]

FDE

GPS
(Integrity Monitoring)

(Detection)

FDE

(Exclusion)
(Least Square

Residual Method)

(Parity Method)

:
(1)

pT p = wT w = SSE (

(3.16)

(Sum of Squared Errors ; SSE)

(2)

(3.11)

H = QR

(Normalized QR Decomposition)[32]

QT H = QT QR = R
0

QT

P
21

n-4

PH = 0
p

QT Q = I
R

n-4

(3)

QR

PY
Y

P( HX

B e)